@olliw42 thank you for your work on UC4H and sharing it. I have been working on a rangefinder implementation and have a lot of struggles. I have a running node using libcanard of a very simple rangefinder only transmitting the distance. I now want to look at integrating this with a Pixhawk 4 controller running ArduCopter 4.1.2. We will be setting up a Jetson Nano with a USB2CAN adapter as a node for our sensor. In other words the Jetson Nano will be seen as the rangefinder sensor by the pixhawk.
You use a much simpler data type, but I don’t understand how ArduCopter knows what your data type is? On the YouTube video it shows you selecting RNGFND_TYPE = 83. That is not available on my setup. Is that because of an earlier version of ArduCopter or are there some parameters like a parameter file that can be changed to make it available.
@olliw42 I figured out most things. Got Yakut and UAVCAN GUI to read messages … but arducopter still does not read it. Presently working on CRC in range finder message as per the UAVCAN V0 specification.
Thanks @ppoirier I will check these out once the site is up and running. I do see my node using Mission Planner’s SLCAN tool. I made some changes, but still getting the message Rangefinder1 not detected.